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<div class="title">Quadruped.cpp</div>  </div>
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<a href="../../da/dfc/_quadruped_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Dynamics/Quadruped.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/dc8/spatial_8h.html">Dynamics/spatial.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/dfb/orientation__tools_8h.html">Math/orientation_tools.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../da/d9b/namespaceori.html">ori</a>;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../de/d1a/namespacespatial.html">spatial</a>;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a324400f72ff1233e0ec4229e73d0eee2">   21</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="../../dc/d66/class_quadruped.html#ae3725898959888f0885981c43f127a07">Quadruped&lt;T&gt;::buildModel</a>(<a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a>&amp; model) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// we assume the cheetah&#39;s body (not including rotors) can be modeled as a</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="comment">// uniformly distributed box.</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyDims(_bodyLength, _bodyWidth, _bodyHeight);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">// model.addBase(_bodyMass, Vec3&lt;T&gt;(0,0,0), rotInertiaOfBox(_bodyMass,</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// bodyDims));</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a>(_bodyInertia);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="comment">// add contact for the cheetah&#39;s body</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">addGroundContactBoxPoints</a>(5, bodyDims);</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> baseID = 5;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordtype">int</span> bodyID = baseID;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  T sideSign = -1;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I3 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// loop over 4 legs</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> legID = 0; legID &lt; 4; legID++) {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="comment">// Ab/Ad joint</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">//  int addBody(const SpatialInertia&lt;T&gt;&amp; inertia, const SpatialInertia&lt;T&gt;&amp;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">//  rotorInertia, T gearRatio,</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">//              int parent, JointType jointType, CoordinateAxis jointAxis,</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">//              const Mat6&lt;T&gt;&amp; Xtree, const Mat6&lt;T&gt;&amp; Xrot);</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    bodyID++;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbad = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(_abadLocation, legID));</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbadRotor =</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(_abadRotorLocation, legID));</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_abadInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                    _abadRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                    _abadGearRatio, baseID, JointType::Revolute,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">CoordinateAxis::X</a>, xtreeAbad, xtreeAbadRotor);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_abadInertia, _abadRotorInertia, _abadGearRatio, baseID,</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">CoordinateAxis::X</a>, xtreeAbad,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                    xtreeAbadRotor);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">// Hip Joint</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    bodyID++;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHip =</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">CoordinateAxis::Z</a>, T(M_PI)),</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                     withLegSigns&lt;T&gt;(_hipLocation, legID));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHipRotor =</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">CoordinateAxis::Z</a>, T(M_PI)),</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                     withLegSigns&lt;T&gt;(_hipRotorLocation, legID));</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_hipInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                    _hipRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                    _hipGearRatio, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeHip, xtreeHipRotor);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_hipInertia, _hipRotorInertia, _hipGearRatio, bodyID - 1,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeHip,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                    xtreeHipRotor);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// add knee ground contact point</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -_hipLinkLength));</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// Knee Joint</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    bodyID++;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKnee = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, _kneeLocation);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKneeRotor = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, _kneeRotorLocation);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_kneeInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                    _kneeRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                    _kneeGearRatio, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeKnee, xtreeKneeRotor);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_kneeInertia, _kneeRotorInertia, _kneeGearRatio, bodyID - 1,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeKnee,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                    xtreeKneeRotor);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">// add foot</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -_kneeLinkLength), <span class="keyword">true</span>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    sideSign *= -1;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> g(0, 0, -9.81);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a>(g);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;}</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#ae3725898959888f0885981c43f127a07">  113</a></span>&#160;<a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a> <a class="code" href="../../dc/d66/class_quadruped.html#ae3725898959888f0885981c43f127a07">Quadruped&lt;T&gt;::buildModel</a>() {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;T&gt;</a> model;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// we assume the cheetah&#39;s body (not including rotors) can be modeled as a</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// uniformly distributed box.</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyDims(_bodyLength, _bodyWidth, _bodyHeight);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// model.addBase(_bodyMass, Vec3&lt;T&gt;(0,0,0), rotInertiaOfBox(_bodyMass,</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="comment">// bodyDims));</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">addBase</a>(_bodyInertia);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="comment">// add contact for the cheetah&#39;s body</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">addGroundContactBoxPoints</a>(5, bodyDims);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> baseID = 5;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordtype">int</span> bodyID = baseID;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  T sideSign = -1;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I3 = <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">// loop over 4 legs</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> legID = 0; legID &lt; 4; legID++) {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Ab/Ad joint</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">//  int addBody(const SpatialInertia&lt;T&gt;&amp; inertia, const SpatialInertia&lt;T&gt;&amp;</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">//  rotorInertia, T gearRatio,</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="comment">//              int parent, JointType jointType, CoordinateAxis jointAxis,</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="comment">//              const Mat6&lt;T&gt;&amp; Xtree, const Mat6&lt;T&gt;&amp; Xrot);</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    bodyID++;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbad = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(_abadLocation, legID));</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeAbadRotor =</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, withLegSigns&lt;T&gt;(_abadRotorLocation, legID));</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_abadInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                    _abadRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                    _abadGearRatio, baseID, JointType::Revolute,</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">CoordinateAxis::X</a>, xtreeAbad, xtreeAbadRotor);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_abadInertia, _abadRotorInertia, _abadGearRatio, baseID,</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">CoordinateAxis::X</a>, xtreeAbad,</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    xtreeAbadRotor);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// Hip Joint</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    bodyID++;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHip =</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">CoordinateAxis::Z</a>, T(M_PI)),</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                     withLegSigns&lt;T&gt;(_hipLocation, legID));</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeHipRotor =</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(coordinateRotation&lt;T&gt;(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">CoordinateAxis::Z</a>, T(M_PI)),</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                     withLegSigns&lt;T&gt;(_hipRotorLocation, legID));</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_hipInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    _hipRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                    _hipGearRatio, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeHip, xtreeHipRotor);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_hipInertia, _hipRotorInertia, _hipGearRatio, bodyID - 1,</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeHip,</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                    xtreeHipRotor);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    }</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// add knee ground contact point</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -_hipLinkLength));</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">// Knee Joint</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    bodyID++;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKnee = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, _kneeLocation);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> xtreeKneeRotor = <a class="code" href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">createSXform</a>(I3, _kneeRotorLocation);</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">if</span> (sideSign &lt; 0) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_kneeInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                    _kneeRotorInertia.flipAlongAxis(<a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>),</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                    _kneeGearRatio, bodyID - 1, JointType::Revolute,</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeKnee, xtreeKneeRotor);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      model.<a class="code" href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">addBody</a>(_kneeInertia, _kneeRotorInertia, _kneeGearRatio, bodyID - 1,</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    JointType::Revolute, <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">CoordinateAxis::Y</a>, xtreeKnee,</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                    xtreeKneeRotor);</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">// add foot</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">addGroundContactPoint</a>(bodyID, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -_kneeLinkLength), <span class="keyword">true</span>);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    sideSign *= -1;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> g(0, 0, -9.81);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  model.<a class="code" href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">setGravity</a>(g);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">return</span> model;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> T2&gt;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="../../da/dfc/_quadruped_8cpp.html#a8b8dc9f96094b6454c45ee2886cbfe5a">  207</a></span>&#160;<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> <a class="code" href="../../da/dfc/_quadruped_8cpp.html#a8b8dc9f96094b6454c45ee2886cbfe5a">withLegSigns</a>(<span class="keyword">const</span> Eigen::MatrixBase&lt;T2&gt;&amp; v, <span class="keywordtype">int</span> legID) {</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  static_assert(T2::ColsAtCompileTime == 1 &amp;&amp; T2::RowsAtCompileTime == 3,</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                <span class="stringliteral">&quot;Must have 3x1 matrix&quot;</span>);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">switch</span> (legID) {</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(v[0], -v[1], v[2]);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">case</span> 1:</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(v[0], v[1], v[2]);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">case</span> 2:</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-v[0], -v[1], v[2]);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">case</span> 3:</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(-v[0], v[1], v[2]);</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">default</span>:</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Invalid leg id!&quot;</span>);</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">  225</a></span>&#160;std::vector&lt;ActuatorModel&lt;T&gt;&gt; <a class="code" href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">Quadruped&lt;T&gt;::buildActuatorModels</a>() {</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  std::vector&lt;ActuatorModel&lt;T&gt;&gt; models;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  models.emplace_back(_abadGearRatio, _motorKT, _motorR, _batteryV,</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                      _jointDamping, _jointDryFriction, _motorTauMax);</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  models.emplace_back(_hipGearRatio, _motorKT, _motorR, _batteryV,</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                      _jointDamping, _jointDryFriction, _motorTauMax);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  models.emplace_back(_kneeGearRatio, _motorKT, _motorR, _batteryV,</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                      _jointDamping, _jointDryFriction, _motorTauMax);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">return</span> models;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;double&gt;</a>;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;float&gt;</a>;</div><div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a21c2e59531c8710156d34a3c30ac81d5">ori::CoordinateAxis::Z</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; double &gt;</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a3f2a319bbd26e5e7f91c7d3b980e28c4"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a3f2a319bbd26e5e7f91c7d3b980e28c4">FloatingBaseModel::addGroundContactPoint</a></div><div class="ttdeci">int addGroundContactPoint(int bodyID, const Vec3&lt; T &gt; &amp;location, bool isFoot=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00319">FloatingBaseModel.cpp:319</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_floating_base_model_html_a32274ad578f7ad30bd79e786b62cdd62"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#a32274ad578f7ad30bd79e786b62cdd62">FloatingBaseModel::setGravity</a></div><div class="ttdeci">void setGravity(Vec3&lt; T &gt; &amp;g)</div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00171">FloatingBaseModel.h:171</a></div></div>
<div class="ttc" id="namespacespatial_html_ae4a2145f3028087511b4f17c0152ec83"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#ae4a2145f3028087511b4f17c0152ec83">spatial::createSXform</a></div><div class="ttdeci">auto createSXform(const Eigen::MatrixBase&lt; T &gt; &amp;R, const Eigen::MatrixBase&lt; T2 &gt; &amp;r)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00140">spatial.h:140</a></div></div>
<div class="ttc" id="_quadruped_8cpp_html_a8b8dc9f96094b6454c45ee2886cbfe5a"><div class="ttname"><a href="../../da/dfc/_quadruped_8cpp.html#a8b8dc9f96094b6454c45ee2886cbfe5a">withLegSigns</a></div><div class="ttdeci">Vec3&lt; T &gt; withLegSigns(const Eigen::MatrixBase&lt; T2 &gt; &amp;v, int legID)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00207">Quadruped.cpp:207</a></div></div>
<div class="ttc" id="class_floating_base_model_html_adcff6806f39aedf95a3723fc10c6144e"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#adcff6806f39aedf95a3723fc10c6144e">FloatingBaseModel::addBody</a></div><div class="ttdeci">int addBody(const SpatialInertia&lt; T &gt; &amp;inertia, const SpatialInertia&lt; T &gt; &amp;rotorInertia, T gearRatio, int parent, JointType jointType, CoordinateAxis jointAxis, const Mat6&lt; T &gt; &amp;Xtree, const Mat6&lt; T &gt; &amp;Xrot)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00392">FloatingBaseModel.cpp:392</a></div></div>
<div class="ttc" id="namespacespatial_html"><div class="ttname"><a href="../../de/d1a/namespacespatial.html">spatial</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00019">spatial.h:19</a></div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00069">FloatingBaseModel.h:69</a></div></div>
<div class="ttc" id="orientation__tools_8h_html"><div class="ttname"><a href="../../d4/dfb/orientation__tools_8h.html">orientation_tools.h</a></div><div class="ttdoc">Utility functions for 3D rotations. </div></div>
<div class="ttc" id="namespaceori_html"><div class="ttname"><a href="../../da/d9b/namespaceori.html">ori</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00028">orientation_tools.h:28</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a57cec4137b614c87cb4e24a3d003a3e0">ori::CoordinateAxis::Y</a></div></div>
<div class="ttc" id="class_quadruped_html_a44aa07cf91c50c3d0e78821ccc620ccc"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a44aa07cf91c50c3d0e78821ccc620ccc">Quadruped::buildActuatorModels</a></div><div class="ttdeci">std::vector&lt; ActuatorModel&lt; T &gt; &gt; buildActuatorModels()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00225">Quadruped.cpp:225</a></div></div>
<div class="ttc" id="class_floating_base_model_html_aff2cddc3077b282fe3504ecd28bc08cb"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#aff2cddc3077b282fe3504ecd28bc08cb">FloatingBaseModel::addGroundContactBoxPoints</a></div><div class="ttdeci">void addGroundContactBoxPoints(int bodyId, const Vec3&lt; T &gt; &amp;dims)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00360">FloatingBaseModel.cpp:360</a></div></div>
<div class="ttc" id="namespaceori_html_a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">ori::CoordinateAxis::X</a></div></div>
<div class="ttc" id="class_floating_base_model_html_ab3dfc6605561bee26b4f7a893e44c78d"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html#ab3dfc6605561bee26b4f7a893e44c78d">FloatingBaseModel::addBase</a></div><div class="ttdeci">void addBase(const SpatialInertia&lt; T &gt; &amp;inertia)</div><div class="ttdef"><b>Definition:</b> <a href="../../da/de7/_floating_base_model_8cpp_source.html#l00267">FloatingBaseModel.cpp:267</a></div></div>
<div class="ttc" id="class_quadruped_html_ae3725898959888f0885981c43f127a07"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ae3725898959888f0885981c43f127a07">Quadruped::buildModel</a></div><div class="ttdeci">FloatingBaseModel&lt; T &gt; buildModel()</div><div class="ttdef"><b>Definition:</b> <a href="../../da/dfc/_quadruped_8cpp_source.html#l00113">Quadruped.cpp:113</a></div></div>
<div class="ttc" id="spatial_8h_html"><div class="ttname"><a href="../../d9/dc8/spatial_8h.html">spatial.h</a></div><div class="ttdoc">Utility functions for manipulating spatial quantities. </div></div>
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